Detailed Description

template<class GRAVITY>
struct gtsam::internal::GravityParametrization< GRAVITY >

Adapter mapping a gravity parametrization GRAVITY to the nav-frame gravity vector expected by PreintegrationBase, with the chain-rule Jacobian block.

Two parametrizations are provided:

Unit3: an optimized direction scaled by a fixed, known magnitude
Point3: a free vector entangling direction and magnitude See ImuFactorWithGravityDirection and ImuFactorWithGravityVector.

The documentation for this struct was generated from the following file: